Apparatus for milking or other animal operation having robot arm suspension capable of performing a pendulum movement

ABSTRACT

An apparatus for milking or other animal-related operation includes a support means and a robot arm connected to a robot arm suspension means. The robot arm suspension means is hingedly connected to the support means about a horizontal axis, and the robot arm is arranged lower than the support means for allowing the robot arm suspension means to perform a substantially pendulum movement about the horizontal axis.

TECHNICAL FIELD OF THE INVENTION

The present invention relates to an apparatus for performing an animalrelated operation, comprising a support means and a robot arm connectedto a robot arm suspension means.

BACKGROUND OF THE INVENTION

Such an apparatus is known from EP-A-0 519 544.

A disadvantage with the known apparatus is that there is a risk formalfunction of the robot due to the design of the suspension, as ananimal stall is a dirty environment.

It is, accordingly, an object of the present invention to minimize therisk for malfunction of the known apparatus.

SUMMARY OF THE INVENTION

This has been solved by an apparatus of the initially defined kind,which is characterised in that said robot arm suspension means ishingedly connected to said support means about a horizontal axis, saidrobot arm being arranged lower than said support means, for allowingsaid robot arm suspension means to perform a substantially pendulummovement about said horizontal axis.

By the apparatus according to the invention, the animal is easilyaccessible at the side where the milking robot is suspended.

Preferably, said robot arm is elongated and extends substantiallyhorizontally and furthermore substantially across said horizontal axis,so that the arm has good access to the teats.

Suitably, a first driving means is connected between said support meansand said robot arm suspension means for actively performing saidpendulum movement. Hereby is achieved a controllable pendulum movement.

Preferably, said robot arm is pivotally connected to said robot armsuspension means, for allowing said robot arm to perform a pivotalmovement in relation to said robot arm suspension means. Hereby isachieved a movement of the robot arm in addition to said pendulummovement.

Suitably, a second driving means is connected between said support meansand said robot arm, for actively moving said robot arm in asubstantially upward/downward direction; and wherein a third drivingmeans is connected between said robot arm and said robot arm suspensionmeans for actively moving said robot arm in a substantially sidewarddirection. Hereby is achieved a controllable pivotal movement.

Preferably, said robot arm suspension means comprises a pivot meanshaving a bar movable about a substantially horizontal axis, said barbeing provided with a first connection member for said robot arm and asecond connection member for said third driving means, each of saidfirst and second connection members being provided with a hinge movableabout a substantially vertical axis. Hereby a joint for said pivotalmovement is achieved.

Suitably, said robot arm support means comprises an elongated frame ofbars. Alternatively, said robot arm support means comprises an elongatedtubular member. Hereby, a suspension of a simple design is achieved.

Preferably, said robot arm comprises a manipulating means, forperforming said operation.

Suitably, said robot arm is movable into an animal space, at least oneside of which being provided with a railing, so that the suspension isprotected from less gentle movements of animals.

Preferably, at least two animal spaces are provided, said support meansbeing movable therebetween. Hereby, it is possible to utilise one robotfor both animal spaces.

Suitably, the connection between the robot arm suspension means and thesupport means is arranged at a level substantially above said animal.Hereby, the risk is less for dirt, such as manure, to hamper themovement of mechanical parts. Furthermore, a free surface—such as afloor—is easier to clean than a surface having disturbing mountings,bars etc.

Preferably, said robot arm suspension means is adapted to be transportedalong a substantially horizontal path between said plurality of animalstalls for allowing said robot arm further to perform at least oneanimal related operation in a plurality of animal stalls, wherein saidrobot arm being adapted to be rotated about a substantially verticalaxis in relation to said robot arm suspension means, said robot armfurther being movable at least into a pair of animal stalls arrangedafter one another, as seen in a longitudinal direction of said animalstall. Hereby, it is possible to serve two rows of opposite animalstalls with a robot, which is suspended on a single support means.

Suitably, two opposite animal stalls are arranged at a distance from oneanother, said distance forming a space between said animal stalls, saidrobot suspension means being arranged substantially in said space.Hereby, a space where the suspension means is movable is created.

Preferably, at least two of said adjacent animal stalls are arranged atan angle to one another. Hereby, also stalls arranged not only after oneanother, but also angularly, are possible to be served by the robot.

Suitably, an animal stall arranged substantially perpendicularly to thetwo opposite animal stalls is arranged overlapping thereto, said supportmeans being arranged off-set to the perpendicularly arranged animalstall. Hereby, it is possible to easily find the teats of a lactatinganimal as the teats are not arranged centrally, but at its rear end.

Preferably, said support means comprises an elongated guide meansarranged substantially above said robot arm suspension means, saidelongated guide means being arranged along the sides of two animalstalls arranged after one another. Hereby, a rigid support means for thesuspension means is provided, which allows the robot to move along therow of animal stalls without touching the floor.

Suitably, said robot arm suspension means comprises a support suspensionmeans connectible to said support means, for allowing said robot armsuspension means to be moved along said bar means.

Preferably, said support suspension means comprises a driving means forperforming the movement along said guide means. Hereby, the robot isallowed to actively move between the animal stalls.

Suitably, said robot arm suspension means comprises a driving means foractively performing said rotation.

Preferably, said robot arm is movable in relation to said robot armsuspension means by means of at least one pneumatic cylinder. Hereby,the robot arm is independently movable in relation to the suspensionmeans.

DRAWING SUMMARY

The invention will now be described more closely with reference to theaccompanying drawings, in which

FIG. 1 is a perspective view of the apparatus according to a firstembodiment of the invention, the apparatus serving an animal stall,

FIG. 2 is a top view of the apparatus shown in FIG. 1,

FIG. 3 illustrates parts of the apparatus shown in FIG. 1,

FIG. 4 illustrates the apparatus shown in FIG. 1, serving two animalstalls,

FIG. 5 is a perspective view of a second embodiment of the invention

FIG. 6 is a top view of the apparatus shown in FIG. 3,

FIG. 7 illustrates parts of the apparatus shown in FIG. 1,

FIG. 8 illustrates the apparatus shown in FIG. 5, serving two animalstalls.

FIG. 9 is a perspective view of the apparatus shown in FIGS. 1 to 4,serving two rows of animal stalls.

FIG. 10 is a top view of the apparatus illustrated in FIG. 9.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 shows an apparatus 1 according to the invention, provided with asupport means 2, suspension means 3, and a robot arm 4. The supportmeans 2 is connected to a railing 5 of an animal stall 6. The suspensionmeans 3 is connected to the support means by a hinge means 7 having twohinge members, and furthermore by means of a first driving means 8 a inthe form of a pneumatic cylinder. The robot arm 4 is connected to thesupport means 2 by means of a second driving means 8 b, in the form of apneumatic cylinder.

Furthermore, the robot arm 4 is connected to a pivot means 9 including atubular member 10, via a first connection member 10 a in the form of ahinge with a substantially vertical axis, about which the robot arm 4 ismovable. The tubular member 10 is in turn connected to a pair of hingemembers 11, in such a way that the tubular member 10 forms asubstantially horizontal axis A—A, about which it is movable.

A third driving means 8 c (a pneumatic cylinder) is connected to thetubular member 10 of the pivot means 9 via a second connection member 10b in the form of a hinge with a substantially vertical axis, about whichthe pneumatic cylinder 8 c is movable.

The opposite end of the third driving means 8 c is connected to therobot arm via a substantially vertical hinge member 11 a, such that whenthe cylinder operates, the robot arm 4 is moved in a substantiallyhorizontal plane.

The first, second and third driving means 8 a, 8 b, 8 c are associatedwith a control means (not shown).

The suspension means 3 comprises a tabular body 12 and a pair of arms13, between which said tubular member 10 is arranged.

A teatcup rack 14 provided with a plurality of teatcups 15 is arrangednear or inside the stall 6, so that the robot arm 4 can easily reach andgrip a teatcup 15 by means of a manipulating means 16 (see FIG. 3 forfurther details) arranged on said robot arm 4, and move the teatcup 15towards a teat of an animal (not shown) in said stall 6 and attach itonto said teat. Each teatcup 15 is connected to a vacuum source (notshown).

FIG. 2 shows from above the stall 6 of FIG. 1. A cow is illustrated withbroken lines.

FIG. 3 shows the apparatus according to the invention as seen from theinterior of the stall 6, some railings 5 and the teatcup rack 14 beingomitted for clarity reasons.

The teatcup manipulating means 16 comprises a gripping member 17 and ateat locating means 18 of the kind disclosed in more detail in SE9701547-3. The teat locating means 18 is connected to a control means(not shown).

The second driving means 8 b is connected to the support means 2 at aconnection member 19 of a beam 19 a.

At the hinges 11 and 7, there are provided rotary position indicators 11a and 7 a, respectively, connected to a control means (not shown) forallowing determination of the position of the robot arm 4 in relation tothe suspension means 3, and the position of the suspension means 3 inrelation to the support means 2, respectively.

Of course, linear position indication indicators inside or outside thecylinders may be used as an alternative to or in combination with atleast one of the described rotary position indicators 7 a and 11 a.

In FIG. 4, the support means 2, including said suspension means 3 andsaid robot arm 4, is connected to a guide means 2 a comprising a pair ofhorizontal guide members, arranged at a level substantially above thestall, i.e. above the animal to reside in the stall. Of course, it maybe arranged at a lower level, but the risk is then bigger for manure toaffect the function of movable mechanical parts. A motor 2 b, associatedwith the support means 2, is controlled by a control means (not shown)to move the support means 2 along the guide means 2 a between a pair ofstalls 6. The second stall is provided with a further teatcup rack 14with teatcups 15, to be attached to the teats of a cow in that stall,but by means of the same robot arm 4.

FIG. 5 shows a second embodiment of the invention, in which partsdenoted with a reference sign correspond to parts of the firstembodiment with the same reference sign.

The apparatus according to the second embodiment thus includes analternative suspension means 3, comprising a frame 20 having a pair ofsubstantially vertical members 21, interconnected by a substantiallyhorizontal bar 22 and reinforcing cross members 23, the top end of eachvertical member 21 being hingedly joined to the support means 2 at 7.

FIG. 6 shows the stall 6 of FIG. 1 from above.

FIG. 7 shows from a different view angle the support means 2, the robotarm 4 and the suspension means 3 in the form a frame 20.

As shown in FIG. 8, the support means 2, the suspension means 3 and therobot arm 4 are movable along a guide means 2 a, in the form ofhorizontal, elongated bars arranged at a level substantially above thestall. The support means 2 is connected to the guide means 2 a, and asupport suspension means 2 b including a driving means, e.g. an electricor a pneumatic motor, which is adapted to move the support means 2 alongthe guide means 2 a between a pair of stalls 6.

As shown in FIGS. 9 and 10, the support means 2 is provided with asupport suspension means 2 b, which is furthermore movable about avertical axis by means of the driving means 2 a. The robot arm 4 is thusable to serve not only stalls 6 that are arranged after one another in arow, but also two such rows arranged opposite to one another.Furthermore, the robot arm is able to serve stalls 6 that are arrangedat an angle to the stalls in the respective row, e.g. perpendicularthereto, as shown in FIG. 9.

EP-A-0 635 203 discloses a milking robot, which can only be moved alonga single row of milking stalls that are arranged side-by-side, andfurthermore perpendicularly to the support means. For serving a secondrow of animal stalls, the support means must be extended to and alongthat second row.

EP-A-0 323 875 discloses a milking robot, which again is movable along asingle is row of milling stalls, however are arranged after one another.

In EP-A-0 567 191 is described a pair of opposedly arranged stalls to beused at the borderline of two areas between which cows are to movebetween milkings, i.e., after being milked in one area, each cow entersthe other area. The described robot arm is rotatable between the twoadjacent stalls, but only after the entire herd has been milked in onearea, in preparation for subsequent milking of the entire herd in theother area.

Returning to FIGS. 9 and 10, it is contemplated that instead of oneperpendicular stall, there may instead be a number of stalls, e.g.three, that are arranged with another angle to one another, in that case70°. Also two such angular stalls may be provided. Furthermore, itshould be noted that more than three such stalls may be provided.

The animal stalls are arranged at a distance from one another, formingan elongated pace, in which the apparatus 1 is intended to be movedalong.

Operation

An animal to be milked, such as a cow shown in FIGS. 2 and 6, will, ifneeded, be prepared for milking by a suitable teat cleaning apparatus.Subsequently, the robot arm 4 is moved to the right in FIGS. 2 and 6 byactuation of the driving means 8 a such that the tubular member 12 orthe frame 20 is moved as a pendulum about the hinges 7 to the rightwhich in turn moves the robot arm 4 to the right. In order to keep therobot arm 4 in a horizontal position, if desired, the driving means 8 bis actuated simultaneously as the driving means 8 a is actuated,alternatively before or afterwards. In order to allow the robot arm 4 toperform a sideward movement, the driving means 8 c is actuated.

When a teatcup 15 has been gripped by the manipulating means 16 andtaken from the rack 14, the teatcup 15 is moved towards a teat of thecow teat locating means 18. When the teatcup has been placed underneatha selected teat, the teatcup 15 is raised and attached onto the teat,while a vacuum is produced inside the teatcup.

After milking, the teatcups will be returned by the robot arm 4 to theteatcup rack 14, or by a teatcup retracting means in the form of a ropeor the like (not shown), and the cow will be let out from the milkingstall.

Another cow will be let into the stall and the above operation will beperformed for that cow. This will be repeated as long as there are cowsthat need to be milked. Alternatively, the robot arm will be moved tothe next stall.

The invention is not limited to the above described details of theembodiments. Accordingly, even though the driving means 8 a, 8 b and 8 chave been illustrated and described as pneumatic cylinders, it isapparent that hydraulic cylinders, electric motors or the like arepossible to be used, solely or in combination with one another or withthe pneumatic cylinders.

The motor 2 b may be one or several pneumatic and or hydraulic cylindersand or electric motors.

Furthermore, the support means 2 is adaptable to the selected form ofthe frame. For example, as can be seen in FIG. 5 the first driving means8 a is located on the same side of the suspension means 3 as the seconddriving means 8 b, whereas in FIG. 1, the first and second driving means8 a, 8 b, are located on opposite sides of the suspension means.However, the support means 2 shown in FIG. 1 may be changed such thatthe first and second driving means 8 a, 8 b are located on the same sideof the suspension means 3, and consequently the support means 2 shown inFIG. 4 may be changed such that the first and second driving means 8 a,8 b, are located on opposite sides of the suspension means.

Furthermore, the above described different control means may of coursebe integrated into one, single control means.

Referring to FIGS. 5 and 8, the suspension means 3 may be connecteddirectly to the guide means 2 a, in which case the guide means 2 aconstitutes said support means 2, said motor 2 b being associated withsaid suspension means.

In FIGS. 4 and 8, only a pair of stalls are shown. It should, however,be understood that more than two stalls may be provided, in which casethe guide means is extended to run along all of, or a part of, the thusprovided milking stalls, the milking robot will then, of course, serveeach of the stalls along which the guide means 2 a runs.

The guide means 2 a has been shown as a pair of guide members, but itshould be understood that the number of guide members may be only one.Furthermore, the number of guide members may be higher, i.e. three ormore. The connection of the support means 2, or the suspension means 3,to the guide means 2 a then of course needs adaptation to the number andkind of guide members.

Wherever a cow has been mentioned above, it should be understood thatthe apparatus according to the invention may also be used for milkingany other milking animal, such as a sheep, a goat, a buffalo or a horse.

What is claimed is:
 1. An apparatus for performing an animal relatedoperation, comprising a support means and a robot arm connected to arobot arm suspension means, characterised in that said robot armsuspension means is hingedly connected to said support means about asingle horizontal axis at an upper end of said robot arm suspensionmeans, said horizontal axis being fixed in relation to said supportmeans, said robot arm being arranged lower than said support means, forallowing said robot arm suspension means to perform a substantiallypendulum movement about said horizontal axis, and a first driving meansis directly connected to said support means and said robot armsuspension means for actively performing said movement.
 2. An apparatusaccording to claim 1, wherein a first driving means is connected betweensaid support means and said robot arm suspension means for activelyperforming said pendulum movement.
 3. An apparatus according to claim 1,wherein said robot arm is pivotally connected to said robot armsuspension means, for allowing said robot arm to perform a pivotalmovement in relation to said robot arm suspension means.
 4. An apparatusaccording to claim 3, wherein a second driving means is connectedbetween said support means and said robot arm, for actively moving saidrobot arm in a substantially upward/downward direction; and wherein athird driving means is connected between said robot arm and said robotarm suspension means for actively moving said robot arm in asubstantially sideward direction.
 5. An apparatus according to claim 4,wherein said robot arm suspension means comprises a pivot means having abar movable about a substantially horizontal axis (A—A), said bar beingprovided with a first connection member for said robot arm and a secondconnection member for said third driving means, each of said first andsecond connection members being provided with a hinge movable about asubstantially vertical axis.
 6. An apparatus according to claim 1,wherein said robot arm support means comprises an elongated tubularmember.
 7. An apparatus according to claim 1, wherein said robot armsupport means comprises an elongated frame of bars.
 8. An apparatusaccording to claim 1, wherein said robot arm comprises a manipulatingmeans for performing said operation.
 9. An apparatus according to claim1, wherein said robot arm is movable into an animal space, at least oneside of which being provided with a railing.
 10. An apparatus accordingto claim 9, wherein at least two animal spaces are provided, saidsupport means being movable therebetween.
 11. An apparatus according toclaim 1, wherein the connection between the robot arm suspension meansand the support means is arranged at a level substantially above saidanimal.
 12. An apparatus according to claim 1, wherein said robot armsuspension means is adapted to be transported along a substantiallyhorizontal path between said plurality of animal stalls for allowingsaid robot arm to perform at least one animal related operation in aplurality of animal stalls said robot arm being adapted to be rotatedabout a substantially vertical axis in relation to said robot armsuspension means, said robot arm further being movable at least into apair of animal stalls arranged after one another, as seen in alongitudinal direction of said animal stall.
 13. An apparatus accordingto claim 1, wherein said support means is arranged such that anaccessible floor space is provided under said robot arm suspensionmeans.
 14. An apparatus according to claim 12, wherein two oppositeanimal stalls are arranged at a distance from one another, said distanceforming a space between said animal stalls, said robot arm suspensionmeans being arranged substantially in said space.
 15. An apparatusaccording to claim 12, wherein at least two of said adjacent animalstalls are arranged at an angle to one another.
 16. An apparatusaccording to claim 12, wherein an animal stall arranged substantiallyperpendicularly to the two opposite animal stalls is arrangedoverlapping thereto, said support means being arranged off-set to theperpendicularly arranged animal stall.
 17. An apparatus according toclaim 12, wherein said robot arm suspension means comprises a drivingmeans for actively performing said rotation.
 18. An apparatus accordingto claim 12, wherein said robot arm is movable in relation to said robotarm suspension means by means of at least one pneumatic cylinder.
 19. Anapparatus according to claim 1, wherein said robot arm is elongated andextends substantially horizontally and furthermore substantially acrosssaid horizontal axis.
 20. An apparatus according to claim 19, wherein: afirst driving means is connected between said support means and saidrobot arm suspension means for actively performing said pendulummovement; said robot arm is pivotally connected to said robot armsuspension means, for allowing said robot arm to perform a pivotalmovement in relation to said robot arm suspension means; a seconddriving means is connected between said support means and said robotarm, for actively moving said robot arm in a substantiallyupward/downward direction; and wherein a third driving means isconnected between said robot arm and said robot arm suspension means foractively moving said robot arm in a substantially sideward direction;said robot arm suspension means comprises a pivot means having a barmovable about a substantially horizontal axis, said bar being providedwith a first connection member for said robot arm and a secondconnection member for said third driving means, each of said first andsecond connection members being provided with a hinge movable about asubstantially vertical axis; said robot arm support means comprises anelongated tubular member or an elongated frame of bars; said robot armcomprises a manipulating means, for performing said operations; saidrobot arm is movable between two animal spaces, at least one side ofwhich being provided with a railing; the connection between the robotarm suspension means and the support means is arranged at a levelsubstantially above said animal; said robot arm suspension means isadapted to be transported along a substantially horizontal path betweensaid plurality of animal stalls for allowing said robot arm to performat least one animal related operation in a plurality of animal stalls,said robot arm being adapted to be rotated about a substantiallyvertical axis in relation to said robot arm suspension means, said robotarm further being movable at least into a pair of animal stalls arrangedafter one another, as seen in a longitudinal direction of said animalstall; two opposite animal stalls are arranged at a distance from oneanother, said distance forming a space between said animal stalls, saidrobot arm suspension means being arranged substantially in said space;at least two of said adjacent animal stalls are arranged at an angle toone another; an animal stall arranged substantially perpendicularly tothe two opposite animal stalls is arranged overlapping thereto, saidsupport means being arranged off-set to the perpendicularly arrangedanimal stall; said support means comprises an elongated guide meansarranged substantially above said robot arm suspension means, saidelongated guide means being arranged along the side of two animal stallsarranged after one another; said robot arm suspension means comprises asupport suspension means connectible to said support means, for allowingsaid robot arm suspension means to be moved along said guide means; saidsupport suspension means comprises a driving means for performing themovement along said guide means; said robot arm suspension meanscomprises a driving means for actively performing said rotation; andsaid robot arm is movable in relation to said robot arm suspension meansby means of at least one pneumatic cylinder.
 21. An apparatus accordingto claim 1, wherein said support means comprises an elongated guidemeans arranged substantially above said robot arm suspension means, saidelongated guide means being arranged along the sides of two animalstalls arranged after one another.
 22. An apparatus according to claim21, wherein said robot arm suspension means comprises a supportsuspension means connectible to said support means, for allowing saidrobot arm suspension means to be moved along said guide means.
 23. Anapparatus according to claim 22, wherein said support suspension meanscomprises a driving means for performing the movement along said guidemeans.